cmake_minimum_required(VERSION 3.5)
project(mpc)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()
add_definitions(-w)
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(lifecycle_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs  REQUIRED)
find_package(tf2_sensor_msgs  REQUIRED)
find_package(tf2_eigen REQUIRED)

include_directories(include
  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/
  ${PROJECT_SOURCE_DIR}/include/mavlink_protocol/
  ${lifecycle_msgs_INCLUDE_DIRS}
  ${rclcpp_lifecycle_INCLUDE_DIRS}
  /usr/local/include
  src/Eigen-3.3
)
# link_directories(/usr/local/lib)

add_executable(${PROJECT_NAME} 
  src/MPC.cpp 
  src/main.cpp)
  
target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT} -lpthread ipopt z ssl uv)
ament_target_dependencies(
  ${PROJECT_NAME} 
  rclcpp std_msgs 
  nav_msgs 
  rclcpp_action 
  geometry_msgs 
  sensor_msgs   
  tf2_ros
  tf2_geometry_msgs
  tf2_sensor_msgs
  tf2_eigen
)

install(TARGETS
  ${PROJECT_NAME}
  DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY 
  launch 
  DESTINATION 
  share/${PROJECT_NAME}/
)

ament_package()
